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differential-drive-model

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Model a differential-drive robot in URDF.

Software Engineering#simulation#ros2#gazebo#robotics#urdf#differential-drive
Authorwimblerobotics
Version1.0.0
Installs0

System Documentation

What problem does it solve?

Model a differential drive robot in URDF to support accurate kinematics and frame hierarchy in ROS 2 simulations and deployments.

Core Features & Use Cases

  • URDF base and wheel definitions: base_footprint, base_link, left_wheel_link, right_wheel_link, and caster configurations.
  • Frame hierarchy & joints: fixed base joint, drive wheel joints, and proper inertia and visuals for realistic simulation.
  • Gazebo integration: optional diff-drive Gazebo plugin for odometry and ground-truth benchmarking in Gazebo/Nav2 workflows.

Quick Start

Write a URDF snippet from the provided model to instantiate a differential-drive robot with the described links, joints, and properties.

Dependency Matrix

Required Modules

None required

Components

Standard package

💻 Claude Code Installation

Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.

Please help me install this Skill:
Name: differential-drive-model
Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#differential-drive-model

Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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